A typical chip thickness for a 3mm tool is 0.025mm / tooth / revolution. This is highly governed by machine rigidity.
24000rpm x 0.025mm = 600mm/minute feed rate (per tooth)
So ideally you could aim for 1200mm/min for a 2F tool at 24k RPM
Runout, tool deflection and vibration all add up and need to be deducted from the 0.025mm/tooth number, but is hard to quantify so trial and error is expected. 2000mm/min is too fast as you have found out.
0.5mm DoC is a starting point, if all goes well you can try 0.75mm / 1mm DoC with the same feed rate/rpm with 2D Adaptive.
Eventually machine rigidity (lack of) will manifest itself and you have found your maximum Material Removal Rate (MRR) capacity.
Here is an example I did on my DIY CNC (Not Xcarve) with same pocket, same cutting parameters but increasing DoC using 2D Adaptive. It coped well down to 4mm, anything deeper it started to deflect.